diff --git a/ros_gz/package.xml b/ros_gz/package.xml
index 0f388097..a1d90569 100644
--- a/ros_gz/package.xml
+++ b/ros_gz/package.xml
@@ -4,7 +4,7 @@
   <!-- TODO: Make this a metapackage, see
        https://github.com/ros2/ros2/issues/408 -->
   <name>ros_gz</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
   <maintainer email="adityapande@intrinsic.ai">Aditya Pande</maintainer>
   <maintainer email="ahcorde@openrobotics.org">Alejandro Hernandez</maintainer>
diff --git a/ros_gz_bridge/package.xml b/ros_gz_bridge/package.xml
index 2fb2b4c2..2eae89ee 100644
--- a/ros_gz_bridge/package.xml
+++ b/ros_gz_bridge/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_gz_bridge</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="adityapande@intrinsic.ai">Aditya Pande</maintainer>
   <maintainer email="ahcorde@openrobotics.org">Alejandro Hernandez</maintainer>
diff --git a/ros_gz_image/package.xml b/ros_gz_image/package.xml
index e3ee24c8..95b193d9 100644
--- a/ros_gz_image/package.xml
+++ b/ros_gz_image/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_gz_image</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>Image utilities for Gazebo simulation with ROS.</description>
   <license>Apache 2.0</license>
   <maintainer email="adityapande@intrinsic.ai">Aditya Pande</maintainer>
diff --git a/ros_gz_interfaces/package.xml b/ros_gz_interfaces/package.xml
index 423664b3..f47899d2 100644
--- a/ros_gz_interfaces/package.xml
+++ b/ros_gz_interfaces/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_gz_interfaces</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>Message and service data structures for interacting with Gazebo from ROS2.</description>
   <license>Apache 2.0</license>
   <author>Louise Poubel</author>
diff --git a/ros_gz_sim/package.xml b/ros_gz_sim/package.xml
index b44ff735..a034a32a 100644
--- a/ros_gz_sim/package.xml
+++ b/ros_gz_sim/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_gz_sim</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>Tools for using Gazebo Sim simulation with ROS.</description>
   <maintainer email="ahcorde@openrobotics.org">Alejandro Hernandez</maintainer>
   <maintainer email="adityapande@intrinsic.ai">Aditya Pande</maintainer>
diff --git a/ros_gz_sim_demos/package.xml b/ros_gz_sim_demos/package.xml
index dbe285d5..64f38142 100644
--- a/ros_gz_sim_demos/package.xml
+++ b/ros_gz_sim_demos/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>ros_gz_sim_demos</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>Demos using Gazebo Sim simulation with ROS.</description>
   <license>Apache 2.0</license>
   <maintainer email="adityapande@intrinsic.ai">Aditya Pande</maintainer>
diff --git a/test_ros_gz_bridge/package.xml b/test_ros_gz_bridge/package.xml
index 4df6cf13..790ae878 100644
--- a/test_ros_gz_bridge/package.xml
+++ b/test_ros_gz_bridge/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>test_ros_gz_bridge</name>
-  <version>2.0.1</version>
+  <version>2.1.0</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="adityapande@intrinsic.ai">Aditya Pande</maintainer>
   <maintainer email="ahcorde@openrobotics.org">Alejandro Hernandez</maintainer>